Tracker Class Reference

#include <Tracker.h>

List of all members.

Classes
struct	Command
Public Member Functions
Vector< 3 >	CalcSBIRotation (SmallBlurryImage *SBI1, SmallBlurryImage *SBI2)
void	command (const std::string &params)
CVD::Image< TooN::Vector< 2 > > &	ComputeGrid ()
Matrix< 6 >	GetCurrentCov ()
KeyFrame::Ptr	GetCurrentKF ()
SE3	GetCurrentPose ()
std::string	GetMessageForUser ()
int	getTrackingQuality ()
std::list< Trail > &	getTrails ()
bool	getTrailTrackingComplete ()
bool	getTrailTrackingStarted ()
	Tracker (CVD::ImageRef irVideoSize, const ATANCamera &c, Map &m, MapMaker &mm)
void	TrackFrame (CVD::Image< CVD::byte > &imFrame, bool bDraw)
void	TrackFrame (CVD::Image< CVD::byte > &imFrame, bool bDraw, const TooN::SO3< double > &imuOrientation)
Protected Types
enum	{ TRAIL_TRACKING_NOT_STARTED, TRAIL_TRACKING_STARTED, TRAIL_TRACKING_COMPLETE }
enum	{ BAD, DODGY, GOOD }
Protected Member Functions
void	AddNewKeyFrame ()
void	ApplyMotionModel ()
void	AssessTrackingQuality ()
bool	AttemptRecovery ()
Vector< 6 >	CalcPoseUpdate (std::vector< TrackerData * > vTD, double dOverrideSigma=0.0, bool bMarkOutliers=false)
void	CalcSBIRotation ()
void	GUICommandHandler (std::string sCommand, std::string sParams)
void	RenderGrid ()
void	Reset ()
int	SearchForPoints (std::vector< TrackerData * > &vTD, int nRange, int nFineIts)
void	TrackForInitialMap ()
void	TrackMap ()
int	TrailTracking_Advance ()
void	TrailTracking_Start ()
void	UpdateMotionModel ()
Static Protected Member Functions
static void	GUICommandCallBack (void *ptr, std::string sCommand, std::string sParams)
Protected Attributes
int	manMeasAttempted [LEVELS]
int	manMeasFound [LEVELS]
bool	mAutoreset
bool	mbDidCoarse
bool	mbDraw
bool	mbJustRecoveredSoUseCoarse
bool	mbUserPressedSpacebar
bool	mbUseSBIInit
ATANCamera	mCamera
KeyFrame::Ptr	mCurrentKF
double	mdMSDScaledVelocityMagnitude
double	mdVelocityMagnitude
KeyFrame::Ptr	mFirstKF
CVD::ImageRef	mirSize
std::list< Trail >	mlTrails
Map &	mMap
MapMaker &	mMapMaker
Matrix< 6 >	mmCovariances
std::ostringstream	mMessageForUser
int	mnFrame
enum Tracker:: { ... }	mnInitialStage
int	mnLastKeyFrameDropped
int	mnLostFrames
KeyFrame::Ptr	mOldKF
KeyFrame::Ptr	mPreviousFrameKF
CVD::Image< TooN::Vector< 2 > >	mProjVertices
SmallBlurryImage *	mpSBILastFrame
SmallBlurryImage *	mpSBIThisFrame
Relocaliser	mRelocaliser
SE3	mse3CamFromWorld
SE3	mse3StartPos
SO3	mso3CurrentImu
SO3	mso3LastImu
enum Tracker:: { ... }	mTrackingQuality
Vector< 6 >	mv6CameraVelocity
Vector< 6 >	mv6SBIRot
std::vector< Command >	mvQueuedCommands

---

Detailed Description

Definition at line 42 of file Tracker.h.

---

Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

TRAIL_TRACKING_NOT_STARTED
TRAIL_TRACKING_STARTED
TRAIL_TRACKING_COMPLETE

Definition at line 84 of file Tracker.h.

anonymous enum [protected]

Enumerator:

BAD
DODGY
GOOD

Definition at line 134 of file Tracker.h.

---

Constructor & Destructor Documentation

Tracker::Tracker	(	CVD::ImageRef	irVideoSize,
		const ATANCamera &	c,
		Map &	m,
		MapMaker &	mm
	)

Definition at line 33 of file Tracker.cc.

---

Member Function Documentation

void Tracker::AddNewKeyFrame

(

)

[protected]

Definition at line 1254 of file Tracker.cc.

void Tracker::ApplyMotionModel

(

)

[protected]

Definition at line 1206 of file Tracker.cc.

void Tracker::AssessTrackingQuality

(

)

[protected]

Definition at line 1263 of file Tracker.cc.

bool Tracker::AttemptRecovery

(

)

[protected]

Definition at line 291 of file Tracker.cc.

Vector< 6 > Tracker::CalcPoseUpdate	(	std::vector< TrackerData * >	vTD,
		double	dOverrideSigma = 0.0,
		bool	bMarkOutliers = false
	)		[protected]

Definition at line 1105 of file Tracker.cc.

Vector< 3 > Tracker::CalcSBIRotation	(	SmallBlurryImage *	SBI1,
		SmallBlurryImage *	SBI2
	)

Definition at line 274 of file Tracker.cc.

void Tracker::CalcSBIRotation

(

)

[protected]

Definition at line 1346 of file Tracker.cc.

void Tracker::command

(

const std::string &

params

)

Definition at line 1360 of file Tracker.cc.

CVD::Image< TooN::Vector< 2 > > & Tracker::ComputeGrid

(

)

Definition at line 341 of file Tracker.cc.

Matrix<6> Tracker::GetCurrentCov

(

)

[inline]

Definition at line 53 of file Tracker.h.

KeyFrame::Ptr Tracker::GetCurrentKF

(

)

[inline]

Definition at line 54 of file Tracker.h.

SE3 Tracker::GetCurrentPose

(

)

[inline]

Definition at line 51 of file Tracker.h.

string Tracker::GetMessageForUser

(

)

Definition at line 1341 of file Tracker.cc.

int Tracker::getTrackingQuality

(

)

[inline]

Definition at line 59 of file Tracker.h.

std::list<Trail>& Tracker::getTrails

(

)

[inline]

Definition at line 62 of file Tracker.h.

bool Tracker::getTrailTrackingComplete

(

)

[inline]

Definition at line 64 of file Tracker.h.

bool Tracker::getTrailTrackingStarted

(

)

[inline]

Definition at line 63 of file Tracker.h.

void Tracker::GUICommandCallBack	(	void *	ptr,
		std::string	sCommand,
		std::string	sParams
	)		[static, protected]

Definition at line 368 of file Tracker.cc.

void Tracker::GUICommandHandler	(	std::string	sCommand,
		std::string	sParams
	)		[protected]

Definition at line 377 of file Tracker.cc.

void Tracker::RenderGrid

(

)

[protected]

Definition at line 305 of file Tracker.cc.

void Tracker::Reset

(

)

[protected]

Definition at line 64 of file Tracker.cc.

int Tracker::SearchForPoints	(	std::vector< TrackerData * > &	vTD,
		int	nRange,
		int	nFineIts
	)		[protected]

Definition at line 1041 of file Tracker.cc.

void Tracker::TrackForInitialMap

(

)

[protected]

Definition at line 426 of file Tracker.cc.

void Tracker::TrackFrame	(	CVD::Image< CVD::byte > &	imFrame,
		bool	bDraw
	)

void Tracker::TrackFrame	(	CVD::Image< CVD::byte > &	imFrame,
		bool	bDraw,
		const TooN::SO3< double > &	imuOrientation
	)

void Tracker::TrackMap

(

)

[protected]

Definition at line 645 of file Tracker.cc.

int Tracker::TrailTracking_Advance

(

)

[protected]

Definition at line 572 of file Tracker.cc.

void Tracker::TrailTracking_Start

(

)

[protected]

Definition at line 535 of file Tracker.cc.

void Tracker::UpdateMotionModel

(

)

[protected]

Definition at line 1236 of file Tracker.cc.

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Member Data Documentation

int Tracker::manMeasAttempted[LEVELS] [protected]

Definition at line 132 of file Tracker.h.

int Tracker::manMeasFound[LEVELS] [protected]

Definition at line 133 of file Tracker.h.

bool Tracker::mAutoreset [protected]

Definition at line 123 of file Tracker.h.

bool Tracker::mbDidCoarse [protected]

Definition at line 109 of file Tracker.h.

bool Tracker::mbDraw [protected]

Definition at line 111 of file Tracker.h.

bool Tracker::mbJustRecoveredSoUseCoarse [protected]

Definition at line 139 of file Tracker.h.

bool Tracker::mbUserPressedSpacebar [protected]

Definition at line 149 of file Tracker.h.

bool Tracker::mbUseSBIInit [protected]

Definition at line 146 of file Tracker.h.

ATANCamera Tracker::mCamera [protected]

Definition at line 74 of file Tracker.h.

KeyFrame::Ptr Tracker::mCurrentKF [protected]

Definition at line 69 of file Tracker.h.

double Tracker::mdMSDScaledVelocityMagnitude [protected]

Definition at line 108 of file Tracker.h.

double Tracker::mdVelocityMagnitude [protected]

Definition at line 107 of file Tracker.h.

KeyFrame::Ptr Tracker::mFirstKF [protected]

Definition at line 90 of file Tracker.h.

CVD::ImageRef Tracker::mirSize [protected]

Definition at line 77 of file Tracker.h.

std::list<Trail> Tracker::mlTrails [protected]

Definition at line 89 of file Tracker.h.

Map& Tracker::mMap [protected]

Definition at line 72 of file Tracker.h.

MapMaker& Tracker::mMapMaker [protected]

Definition at line 73 of file Tracker.h.

Matrix<6> Tracker::mmCovariances [protected]

Definition at line 121 of file Tracker.h.

std::ostringstream Tracker::mMessageForUser [protected]

Definition at line 150 of file Tracker.h.

int Tracker::mnFrame [protected]

Definition at line 127 of file Tracker.h.

enum { ... } Tracker::mnInitialStage [protected]

int Tracker::mnLastKeyFrameDropped [protected]

Definition at line 128 of file Tracker.h.

int Tracker::mnLostFrames [protected]

Definition at line 135 of file Tracker.h.

KeyFrame::Ptr Tracker::mOldKF [protected]

Definition at line 122 of file Tracker.h.

KeyFrame::Ptr Tracker::mPreviousFrameKF [protected]

Definition at line 91 of file Tracker.h.

CVD::Image<TooN::Vector<2> > Tracker::mProjVertices [protected]

Definition at line 68 of file Tracker.h.

SmallBlurryImage* Tracker::mpSBILastFrame [protected]

Definition at line 142 of file Tracker.h.

SmallBlurryImage* Tracker::mpSBIThisFrame [protected]

Definition at line 143 of file Tracker.h.

Relocaliser Tracker::mRelocaliser [protected]

Definition at line 75 of file Tracker.h.

SE3 Tracker::mse3CamFromWorld [protected]

Definition at line 104 of file Tracker.h.

SE3 Tracker::mse3StartPos [protected]

Definition at line 105 of file Tracker.h.

SO3 Tracker::mso3CurrentImu [protected]

Definition at line 114 of file Tracker.h.

SO3 Tracker::mso3LastImu [protected]

Definition at line 115 of file Tracker.h.

enum { ... } Tracker::mTrackingQuality [protected]

Vector<6> Tracker::mv6CameraVelocity [protected]

Definition at line 106 of file Tracker.h.

Vector<6> Tracker::mv6SBIRot [protected]

Definition at line 145 of file Tracker.h.

std::vector<Command> Tracker::mvQueuedCommands [protected]

Definition at line 156 of file Tracker.h.

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The documentation for this class was generated from the following files:

• Tracker.h
• Tracker.cc